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EP2609848B1 - Endoscope - Google Patents

Endoscope Download PDF

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Publication number
EP2609848B1
EP2609848B1 EP12765035.6A EP12765035A EP2609848B1 EP 2609848 B1 EP2609848 B1 EP 2609848B1 EP 12765035 A EP12765035 A EP 12765035A EP 2609848 B1 EP2609848 B1 EP 2609848B1
Authority
EP
European Patent Office
Prior art keywords
bending
bending portion
endoscope
drive mechanism
curving
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Not-in-force
Application number
EP12765035.6A
Other languages
German (de)
English (en)
Other versions
EP2609848A1 (fr
EP2609848A4 (fr
Inventor
Hiroaki Miyoshi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Olympus Corp
Original Assignee
Olympus Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Olympus Corp filed Critical Olympus Corp
Publication of EP2609848A1 publication Critical patent/EP2609848A1/fr
Publication of EP2609848A4 publication Critical patent/EP2609848A4/fr
Application granted granted Critical
Publication of EP2609848B1 publication Critical patent/EP2609848B1/fr
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00064—Constructional details of the endoscope body
    • A61B1/00066—Proximal part of endoscope body, e.g. handles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A61B1/009—Flexible endoscopes with bending or curvature detection of the insertion part
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/0016—Holding or positioning arrangements using motor drive units
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A61B1/0052—Constructional details of control elements, e.g. handles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A61B1/0057—Constructional details of force transmission elements, e.g. control wires
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0133—Tip steering devices
    • A61M25/0136—Handles therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0133—Tip steering devices
    • A61M2025/0161—Tip steering devices wherein the distal tips have two or more deflection regions
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0133—Tip steering devices
    • A61M25/0147—Tip steering devices with movable mechanical means, e.g. pull wires

Definitions

  • This invention relates to an endoscope having a plurality of bending portions.
  • Jpn. Pat. Appln. KOKAI Publication No. 2009-160211 has disclosed an endoscope which allows one of two knobs of an operation portion to be moved along the axial direction of the knobs so that the two knobs are interlocked or individually operable.
  • first and second bending portions can be bent at the same time.
  • the first bending portion and the second bending portion can be separately bent.
  • Jpn. Pat. Appln. KOKAI Publication No. 2010-201 has disclosed an endoscope including a first bending portion which vertically bends, and a second bending portion which horizontally bends together with the first bending portion. That is, if the first bending portion is bent, for example, upward, the second bending portion bends, for example, leftward at the same time.
  • an endoscope including not only a first bending portion but also a second bending portion is used, it is generally possible to improve the performance of the insertion of an insertion portion into an insertion target such as a large intestine.
  • a surgeon when the insertion portion of the endoscope is inserted to the far side of the large intestine from the anus side, a surgeon generally holds and operates the insertion portion of the endoscope with the left hand, and firmly holds the insertion portion with the right hand to rotate the insertion portion around the axis or axially move the insertion portion.
  • the surgeon preferably keeps holding the insertion portion without taking the right hand off the insertion portion to stabilize the position of the insertion portion while feeling the insertion into the large intestine.
  • the first bending portion and the second bending portion bend in different directions.
  • This endoscope is therefore not easy to use in that the surgeon needs to previously imagine the directions of the two bending portions before bending the bending portions.
  • JP H06 217929 A discloses an endoscope which comprises a flexible tube with a first curved portion and a second curved portion.
  • the curved state of the first curved portion is detected and stored, and depending on this state, the shape of the second curved portion is changed to be the same as that of the first curved portion after a bending drive switch has been turned on.
  • This invention has been made to solve the foregoing problems, and an object of this invention is to provide an endoscope having a plurality of bending portions which allows the bending portions to be readily bent only by one-handed operation and which can prevent the difficulty of finding an observation target.
  • the first embodiment is described with reference to FIG. 1 to FIG. 6B .
  • an endoscope 10 includes an elongate insertion portion 12, and an operation portion 14 provided at the proximal end of the insertion portion 12.
  • An observation optical system and an illumination optical system that are not shown are provided inside the endoscope 10 as in a normal endoscope.
  • An unshown channel is preferably formed in the endoscope 10.
  • the insertion portion 12 includes a distal rigid portion 22, a first bending portion 24, a second bending portion 26, and a flexible tubular portion 28 from the distal side to the proximal side in order.
  • the proximal end of the flexible tubular portion 28 is coupled to the operation portion 14.
  • the first bending portion 24 includes a first bending tube 34 in which a plurality of bending pieces (not shown) are axially arranged.
  • the second bending portion 26 includes a second bending tube 36 in which a plurality of bending pieces (not shown) are axially arranged.
  • the first bending portion 24 and the second bending portion 26 include, for example, a braid (not shown) provided outside the first bending tube 34 and the second bending tube 36, and an outer tube provided outside the braids.
  • the operation portion 14 includes a first bending drive mechanism 44 for bending the first bending portion 24, and second bending drive mechanisms 46a and 46b for bending the second bending portion 26.
  • the first bending drive mechanism 44 includes a sprocket (chain drum) 52 disposed inside the operation portion 14, a first bending portion operation knob (bending operation input portion) 54 which rotates the sprocket 52 around its central axis C0, a chain 56 engaged with and wound around the sprocket 52, first connecting members 58a and 58b disposed at the ends of the chain 56, and first angle wires 60a and 60b.
  • the sprocket 52 and the first bending portion operation knob 54 move, for example, integrally relative to the operation portion 14. Therefore, the operation amount of the first bending portion operation knob 54 is reflected in the sprocket 52.
  • the first angle wires 60a and 60b have the distal ends thereof fixed to the distal end of the first bending tube 34 of the first bending portion 24, and the proximal ends thereof fixed to the first connecting members 58a and 58b.
  • the second bending drive mechanisms 46a and 46b have springs (elastic members) 72a and 72b fixed on one end to the first connecting members 58a and 58b, second connecting members 74a and 74b to which the other ends of the springs 72a and 72b are fixed, dampers (shock absorbers) 76a and 76b as damping devices, second angle wires 78a and 78b, and the second bending tube 36.
  • the springs 72a and 72b have, for example, natural lengths.
  • the distal ends of the second angle wires 78a and 78b are fixed to the distal end of the second bending tube 36 of the second bending portion 26, and the proximal ends of the second angle wires 78a and 78b are fixed to the second connecting members 74a and 74b.
  • the dampers 76a and 76b includes cylinders 82a and 82b containing, for example, silicone oil (which may be a fluid such as a gas as well as an oil (liquid)), and shafts (piston rods) 84a and 84b as movable bodies which axially move relative to the cylinders 82a and 82b.
  • the cylinders 82a and 82b are fixed to the inside of the operation portion 14 by a jig 90 (see FIG. 5 ).
  • the axial directions of the shafts 84a and 84b of the dampers 76a and 76b are preferably parallel to the axial directions of the second angle wires 78a and 78b.
  • the shafts 84a and 84b of the dampers 76a and 76b move relative to the operation portion 14.
  • the second connecting members 74a and 74b are fixed to the ends of the shafts 84a and 84b of the dampers 76a and 76b. That is, the springs 72a and 72b, the second angle wires 78a and 78b, and the shafts 84a and 84b of the dampers 76a and 76b are coupled to the second connecting members 74a and 74b.
  • the first bending portion operation knob 54 is turned from the condition shown in FIG. 2A in which the first bending portion 24 is straight.
  • the sprocket 52 rotates together with the first bending portion operation knob 54, and the chain 56 engaged with the sprocket 52 moves in accordance with the sprocket 52.
  • the first angle wires 60a and 60b are axially moved by the chain 56 and the first connecting members 58a and 58b.
  • the first angle wire 60a moves toward the operation portion 14, and although not shown, the first angle wire 60b moves toward the distal end of the insertion portion 12. Accordingly, the first bending portion 24 is bent as shown in FIG. 2B .
  • the first connecting member 58a are coupled to the second connecting member 74a at the end of the shaft 84a of the damper 76a via the spring 72a.
  • the spring 72a expands relative to the natural length.
  • the second bending portion 26 bends in the same direction as the bending direction of the first bending portion 24 in conformity to the first bending portion 24. That is, the second bending drive mechanisms 46a and 46b automatically bend the second bending portion 26 in conformity to the first bending portion 24 after the start of the bending of the first bending portion 24.
  • the moving velocity of the shafts 84a and 84b is determined by the rotation velocity of the first bending portion operation knob 54 (the moving velocity of the chain 56) and the strength of the springs 72a and 72b.
  • the spring 72b exerts force to bring the second connecting member 74b closer to the first connecting member 58b.
  • the shaft 84b of the damper 76b moves toward the side of the operation portion 14.
  • the second connecting member 74b pulls the second angle wire 78b toward the operation portion 14.
  • the second connecting member 74a is drawn into the distal side of the insertion portion 12 in accordance with the movement of the second bending portion 26.
  • the second bending portion 26 decreases its bending angle in conformity to the first bending portion 24.
  • the bending direction of the first bending portion 24 corresponds to the bending direction of the second bending portion 26. That is, if the first bending portion 24 approaches the straight state, the second bending portion 26 also gradually approaches the straight state.
  • a surgeon does not need to determine the timing of bending the second bending portion 26, and the second bending portion 26 can be automatically bent in conformity to the bending of the first bending portion 24. This can improve the performance of the operation of the endoscope 10 by the surgeon.
  • the bending velocity of the second bending portion 26 can be lower than the bending velocity of the first bending portion 24 owing to the functions of the dampers 76a and 76b. It is therefore possible to prevent a subject from being blurred when the first bending portion 24 is curved, and easily control the position for observing the subject.
  • the distal end of the insertion portion 12 is inserted into the large intestine L from the anus side.
  • the surgeon firmly holds the insertion portion 12 with the right hand, and sends the insertion portion 12 into the far side of the large intestine L and twists the insertion portion 12, and also senses, for example, reaction force from the large intestine L to control the endoscope 10 in consideration of load on the large intestine L.
  • the surgeon bends the first bending portion 24 to hook the first bending portion 24 to the near side to far side of the crooked region. While the first bending portion 24 is bent, for example, in a U-direction, the second bending portion 26 also starts to bend in the same direction as the first bending portion 24. This ensures that the first and second bending portions 24 and 26 of the insertion portion 12 can be hooked to the near side to far side of the crooked region. At the same time, the crooked region that has been grasped by the first bending portion 24 is then grasped by the first and second bending portions 24 and 26. Accordingly, the insertion portion 12 moves to the far side relative to the crooked region.
  • the distal end of the insertion portion 12 is then sent to the far side of the large intestine L so that the curved first bending portion 24 is restored to the straight state. In this way, the distal end of the insertion portion 12 can be moved to the far side from the crooked region.
  • the first bending portion 24 first starts to bend, and the second bending portion 26 then starts to automatically bend in the same direction as the bending direction of the first bending portion 24 after the first bending portion 24 has started to bend.
  • the left hand is only needed to operate the operation portion 14, and it is not necessary to take the right hand off the insertion portion 12.
  • the insertion portion 12 can be kept held by the right hand, the state of the insertion portion 12 relative to, for example, the large intestine L can be maintained, and the insertion portion 12 of the endoscope 10 can be moved to the far side of the large intestine L by simple operation.
  • the endoscope 10 according to this embodiment has not one bending portion but the two bending portions 24 and 26 for a given axial length. That is, the endoscope 10 according to this embodiment has the two bending tubes 34 and 36 within a given range. Therefore, the bending radius of each of the bending portions 24 and 26 can be smaller than that when one bending portion having the combined lengths of the bending portions 24 and 26 is formed. Consequently, the endoscope 10 according to this embodiment is particularly advantageous to the insertion of the insertion portion 12 into the far side of a part having a small corner radius.
  • first connecting members 58a and 58b for connecting the first angle wires 60a and 60b may be used instead.
  • the dampers 76a and 76b may be either what is known as a single cylinder type or a multiple cylinder type.
  • a stretchable rubber material is also preferably used as an elastic member instead of the springs 72a and 72b.
  • various members that allow the angle wires 78a and 78b to be laid in accordance with the expansion and compression of the springs 72a and 72b can be used as damping devices instead of the dampers 76a and 76b.
  • the first bending portion 24 is bent in the vertical direction (U- and D-directions) in the endoscope 10 shown in FIG. 1 in the case described above, the first bending portion 24 may be configured to be bent in the U- and D-directions and the horizontal direction (R- and L-directions).
  • a switch mechanism 110 is preferably provided in the operation portion 14 of the endoscope 10 to switch between a first condition in which the second bending portion 26 is bent in conformity to the first bending portion 24 and a second condition in which the second bending portion 26 is not bent or is not easily bent even when the first bending portion 24 is bent.
  • the switch mechanism 110 has a stopper mechanism 112 that uses a knock-type structure widely used in, for example, ball-point pens.
  • the stopper mechanism 112 includes a knock portion 114 supported by the operation portion 14, and a movable member 116 which is disposed inside the operation portion 14 and which moves in accordance with the movement of the knock portion 114.
  • the knock portion 114 is disposed to penetrate the operation portion 14 from the inside to the outside.
  • a shaft-like knock body (shaft body) 122 of the knock portion 114 projects out of the operation portion 14.
  • the knock body 122 is disposed in the vicinity of the first bending portion operation knob 54, and the knock body 122 and the first bending portion operation knob 54 can be operated with the left hand alone.
  • the knock body 122 is preferably located to be operable when a finger other than the thumb operating the first bending portion operation knob 54 is extended to the knock body 122.
  • the direction of the central axis C1 of the knock body 122 is preferably parallel to the rotation center C0 of the sprocket 52.
  • the knock body 122 can be switched between a condition (second condition) in which the knock body 122 is pushed into the operation portion 14 as shown in FIG. 6A and a condition (first condition) in which the operation portion 14 projects out of the operation portion 14 as shown in FIG. 6B .
  • the amount of the projection of the knock body 122 from the outer surface of the operation portion 14 is preferably about several millimeters to one centimeter.
  • the knock body 122 is airtightly and liquid-tightly covered by an unshown cover member outside the operation portion 14 so that a fluid is not let in or out of the operation portion 14.
  • the movable member 116 includes two constraining portions 124a and 124b which can constrain/release the two shafts 84a and 84b of the dampers 76a and 76b at the same time, and a shaft 126.
  • the shaft 126 includes a rotary shaft 126a between one end (upper end) and the other end (lower end).
  • the constraining portions 124a and 124b are substantially U-shaped in cross section, and include, in the inner peripheral surface thereof, for example, rubber friction load members 128a and 128b which apply friction force to regulate the axial movement of the shafts 84a and 84b of the dampers 76a and 76b.
  • a stopper 126b is formed in the shaft 126 closer to one end than the rotary shaft 126a, and can engage with and disengage from an inclined plane 130 formed in an inner frame 14a of the operation portion 14.
  • the movement of the movable member 116 around the axis of the knock body 122 is regulated by the inner frame 14a of the operation portion 14.
  • the movement of the constraining portions 124a and 124b in the rotation direction can be regulated by the rotary shaft 126a of the shaft 126 and the inner frame 14a of the operation portion 14.
  • the movement of the movable member 116 in the axial direction of the two shafts 84a and 84b of the dampers 76a and 76b is also regulated by the inner frame 14a of the operation portion 14.
  • the inclined plane 130 of the inner frame 14a engages with the stopper 126b. That is, if the knock body 122 of the knock portion 114 is pressed toward the inside of the operation portion 14, the movable member 116 moves toward the shafts 84a and 84b of the dampers 76a and 76b together with the knock portion 114. Thus, the two shafts 84a and 84b of the dampers 76a and 76b are held and constrained by the constraining portions 124a and 124b.
  • the movement of the movable member 116 in the axial direction of the two shafts 84a and 84b of the dampers 76a and 76b is also regulated, so that it is possible to prevent the second bending portion 26 from bending in the same direction as the first bending portion 24.
  • the stopper 126b is disengaged from the inclined plane 130a, and the stopper 126b moves to the rear surface in FIG. 6B . Therefore, when the knock portion 114 is projected out of the operation portion 14, a state that the shafts 84a and 84b of the dampers 76a and 76b are held and constrained by the constraining portions 124a and 124b can be released. As a result, the second bending portion 26 can be bent in conformity to the first bending portion 24.
  • the springs 72a and 72b can be kept expanded or compressed relative to the natural length. For example, if the knock body 122 is further operated when one spring 72a is expanded and the other spring 72b is compressed, force is rapidly applied to the shafts 84a and 84b of the dampers 76a and 76b by the urging force of the springs 72a and 72b, but the moving velocity of the shafts 84a and 84b is much lower than the velocity at which the springs 72a and 72b are compressed when released from the condition expanded at the free ends.
  • the movement of the shafts 84a and 84b in the pulling direction of the second angle wires 78a and 78b is slower than the movement in the pushing direction. Therefore, the rapid increase of the bending angle of the second bending portion 26 can be prevented by the dampers 76a and 76b.
  • the switch mechanism 110 is thus disposed in the operation portion 14 so that a user of the endoscope 10 can switch (select) whether to conform the second bending portion 26 to the first bending portion 24. Therefore, the function to bend the second bending portion 26 in conformity to the first bending portion 24 can be switched, for example, in accordance with a part (e.g. the large intestine L) into which the insertion portion 12 is inserted and in accordance with a patient.
  • a part e.g. the large intestine L
  • the switch mechanism 110 can be operated to further bend the second bending portion 26 in the same direction as the bending direction of the first bending portion 24 in conformity to the first bending portion 24 or decrease the bending angle of the second bending portion 26.
  • the switch mechanism 110 is not limited to the knock-type structure, and allows for various structures that can constrain/release the two shafts 84a and 84b of the dampers 76a and 76b. Moreover, the switch mechanism 110 is not limited to the various structures that can constrain/release the two shafts 84a and 84b, and allows for a structure that can regulate/deregulate the movement of the second connecting members 74a and 74b, or a structure that can prevent the expansion and compression of the springs 72a and 72b.
  • This embodiment is a modification of the first embodiment, and the same components as the components described in the first embodiment are indicated by the same reference signs, and are not described in detail.
  • later-described motors 212a and 212b are used as the damping devices instead of the springs 72a and 72b and the dampers 76a and 76b.
  • the operation portion 14 is provided with a CPU 202, a storage unit 204, a potentiometer (position sensor) 206, a resistance value measurement unit 208, a motor power supply 210, the motors 212a and 212b, encoders 214a and 214b, count processing units 216a and 216b, and an input unit 218.
  • the CPU 202, the storage unit 204, the potentiometer 206, the resistance value measurement unit 208, the motor power supply 210, the motors 212a and 212b, the encoders 214a and 214b, and the count processing units 216a and 216b are preferably provided inside the operation portion 14, the input unit 218 may be removable from the operation portion 14.
  • Linear motors e.g. ultrasonic motors
  • direct-current/alternating-current motors having rotational drive shafts
  • the rotary motion of the drive shaft of the motor 212a is converted to linear motion via a ball screw 222a to the drive shaft of one motor 212a, as shown in FIG. 8 .
  • the angle wire 78a can be then axially moved.
  • the rotary motion of the drive shaft of the motor 212b is converted to linear motion via a ball screw 222b to the drive shaft of the other motor 212b.
  • the potentiometer (input amount detector) 206 is attached to the sprocket 52. By setting the potentiometer 206 in accordance with the initial position (position that allows the first bending portion 24 to be straight) of the first bending portion operation knob 54, the potentiometer 206 can detect the rotation amount of the sprocket 52, that is, the rotational position (rotation angle) of the first bending portion operation knob 54.
  • the rotational position of the first bending portion operation knob 54 that is, the rotation amount of the sprocket 52 substantially corresponds to the bending amount of (bending angle) of the first bending portion 24 in the U-direction and D-direction.
  • the potentiometer 206 can be used to estimate the bent state of the first bending portion 24 in the U- and D-directions in accordance with the rotation amount of the first bending portion operation knob 54.
  • the motors 212a and 212b are then driven when the first bending portion 24 has exceeded a given threshold input by the input unit 218 and stored in the storage unit 204.
  • the motors (driving portions) 212a and 212b, and the encoders (rotational position detectors) 214a and 214b for detecting the rotation amounts (rotation angles) of the motors 212a and 212b are disposed in the operation portion 14.
  • the motors 212a and 212b generate driving force to bend the second bending portion 26. Therefore, the second bending tube 36, the wires 78a and 78b, the motors 212a and 212b, and the ball screws 222a and 222b form the second bending drive mechanisms 46a and 46b for bending the second bending portion 26.
  • the encoders 214a and 214b are provided in the motors 212a and 212b, and the driving amounts (e.g. rotation amounts) of the motors 212a and 212b can be obtained in accordance with measurements by the encoders 214a and 214b.
  • the input unit 218 inputs (sets), for example, parameters (thresholds) necessary to automatically bend the second bending portion 26 in conformity to the first bending portion 24.
  • the input unit 218 can set the timing for actuating the motors 212a and 212b to bend the second bending portion 26. For example, by setting a threshold in the input unit 218, the second bending portion 26 can be bent in the same direction as the bending direction of the first bending portion 24 when the first bending portion 24 has become equal to or more than a predetermined bending angle.
  • the input unit 218 can set a conforming velocity when the second bending portion 26 is curved. For example, when the second bending portion 26 is curved, the time required to bend the second bending portion 26 to a given angle ⁇ can be controlled to be longer than the time required to curve the first bending portion 24 to the given angle ⁇ .
  • the input unit 218 can set the second bending portion 26 so that the second bending portion 26 is not curved (the motors 212a and 212b are not driven) even when the first bending portion 24 is curved. That is, it is possible to select whether to curve the second curving portion 26 in conformity to the first curving portion 24 or prevent the second curving portion 26 from conforming to the first curving portion 24 even if the first bending portion 24 is curved.
  • a changeover switch may be provided in addition to the input unit 218. If the changeover switch is operated while the first bending portion 24 is being bent, the second bending portion 26 can be bent in conformity to the first bending portion 24.
  • the input unit 218 may be provided in the operation portion 14, or may be removable from the operation portion 14. It is also preferable that the input unit 218 enables various settings through radio communication by an unshown radio communication system which is removable from the operation portion 14 or which is disposed inside the operation portion 14.
  • the conforming velocity at which to bend the second bending portion 26 can be properly set by the input unit 218 to suit to the surgeon's preferences.
  • the motors 212a and 212b are driven in accordance with the rotational position of the first bending portion operation knob 54.
  • the bending angle of the second bending portion 26 is reduced when the rotation amount of the first bending portion operation knob 54 is small (the bending angle of the first bending portion 24 is small), and the bending angle of the second bending portion 26 is increased when the rotation amount is great (the bending angle of the first bending portion 24 is great).
  • the bending angle of the second bending portion 26 is preferably smaller than the bending angle of the first bending portion 24. That is, it is preferable to prevent the bending angle of the second bending portion 26 from being greater than the bending angle of the first bending portion 24.
  • a position sensor (not shown) is provided in, for example, the first connecting members 58a and 58b instead of the potentiometer 206 disposed in at least one of the first bending portion operation knob 54 and the sprocket 52 to calculate the bending angle of the first bending portion 24.
  • the position sensor may be provided in, for example, the chain 56.
  • the second curving portion can be automatically curved in conformity to the first curving portion after the start of the curving of the first curving portion.

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  • Health & Medical Sciences (AREA)
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  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Optics & Photonics (AREA)
  • Pulmonology (AREA)
  • Anesthesiology (AREA)
  • Hematology (AREA)
  • Instruments For Viewing The Inside Of Hollow Bodies (AREA)
  • Endoscopes (AREA)

Claims (5)

  1. Endoscope (10) comprenant :
    une partie d'insertion (12) qui comprend une première partie de courbure (24) et une deuxième partie de courbure (26) disposée au niveau de l'extrémité proximale de la première partie de courbure ;
    une partie (54) d'entrée d'opération de courbure qui est configurée pour courber la première partie de courbure ; et
    un premier mécanisme (44) d'entraînement de courbure qui est configuré pour courber la première partie de courbure conformément à l'opération de la partie d'entrée d'opération de courbure
    caractérisé en ce qu'il comprend en outre :
    un deuxième mécanisme (46a, 46b) d'entraînement de courbure qui est configuré pour courber automatiquement la deuxième partie de courbure à une vitesse de courbure inférieure à une vitesse de courbure de la première partie de courbure dans la même direction que la direction de courbure de la première partie de courbure en conformité avec la première partie de courbure.
  2. Endoscope (10) selon la revendication 1, caractérisé en ce que
    le deuxième mécanisme (46a, 46b) d'entraînement de courbure comprend :
    un élément élastique (72a, 72b) couplé au premier mécanisme (44) d'entraînement de courbure,
    un dispositif d'amortissement (76a, 76b) qui est couplé à l'élément élastique et qui comprend un corps mobile (74a, 74b) configuré pour être mobile par une force plus petite lorsque déplacé dans une direction d'approche des première et deuxième parties de courbure que lorsque déplacé éloigné des première et deuxième parties de courbure, et
    un câble angulaire (78a, 78b) couplé au corps mobile du dispositif d'amortissement.
  3. Endoscope (10) selon la revendication 1 ou 2, caractérisé en ce qu'il comprend en outre un mécanisme de commutation (110) qui est configuré pour commuter entre une condition d'interverrouillage pour interverrouiller le deuxième mécanisme (46a, 46b) d'entraînement de courbure avec l'opération du premier mécanisme (44) d'entraînement de courbure et une condition de non interverrouillage pour arrêter l'opération du deuxième mécanisme d'entraînement de courbure pour libérer l'interverrouillage du deuxième mécanisme d'entraînement de courbure avec le premier mécanisme d'entraînement de courbure.
  4. Endoscope (10) selon la revendication 3, caractérisé en ce que le mécanisme de commutation (110) est prévu au voisinage de la partie (54) d'entrée d'opération de courbure.
  5. Endoscope (10) selon la revendication 1, caractérisée en ce que
    le deuxième mécanisme (46a, 46b) d'entraînement de courbure comprend :
    une paire de câbles angulaires (78a, 78b), et
    une partie d'entraînement (212a, 212b) qui est couplée à au moins l'un parmi la partie (54) d'entrée d'opération de courbure et le premier mécanisme (44) d'entraînement de courbure et couplée aux câbles angulaires du deuxième mécanisme (46a, 46b) d'entraînement de courbure, et qui entraîne les câbles angulaires plus lentement lorsqu'elle déplace les câbles angulaires dans une direction d'approche des première et deuxième parties de courbure (24, 26) que lorsqu'elle déplace les câbles angulaires éloignés des première et deuxième parties de courbure.
EP12765035.6A 2011-03-29 2012-02-21 Endoscope Not-in-force EP2609848B1 (fr)

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PCT/JP2012/054087 WO2012132636A1 (fr) 2011-03-29 2012-02-21 Endoscope

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CN103153161B (zh) 2015-12-02
EP2609848A1 (fr) 2013-07-03
EP2609848A4 (fr) 2014-08-06
US8540625B2 (en) 2013-09-24
JPWO2012132636A1 (ja) 2014-07-24
WO2012132636A1 (fr) 2012-10-04
US20130102960A1 (en) 2013-04-25
JP5210465B2 (ja) 2013-06-12
CN103153161A (zh) 2013-06-12

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